Variable Structure Control ~ 3 Motor Control

Harry G. Kwatny
Department of Mechanical Engineering & Mechanics Drexel University

Nonlinear Control Theory ~ Lecture 12

Outline
Models of ac Motors
Synchronous motors Induction motors Brushless dc motors

VS Control formulation
Adjustable speed synchronous motor Position control of brushless dc motor
Nonlinear Control Theory ~ Lecture 12

Nomenclature (3 phase synchronous motor)

v f ,i f , q f rotor angle in inertial frame rotor angular velocity field winding voltage, current, charge q f = i f dt

v j , i j , q j , j = 1,2,3 stator winding voltage, current, charge mechanical torque (load) M (q) inertia matrix in inerial frame M inertia matrix in rotating (Blondel) frame J mechanical rotating inertia R dissipation matrix i , j , i , j = 1,2,3 stator inductances - self (i = j ) and mutual (i j ) ff field winding self inductance f ,i , i = 1,2,3 field/stator winding mutual inductance

Nonlinear Control Theory ~ Lecture 12

Lagrange Equations
d L L , q ) = T ( q , q ) U ( q ) = Q, L ( q dt q q q= q1 q2 q3 q f = q i1 i2 i3 i f generalized coordinates Lagrangian T , q ) = 1 kinetic energy, T ( q M (q) q q 2 potential energy, U ( q ) = 0 where generalized force Q = D q v1 v2 v3 vf q
T

q L T U Q

T , q ) = 1 + q Rq D potential function D ( q 2

Nonlinear Control Theory ~ Lecture 12

Synchronous Motor
J 0 0 M (q) = 0 0 2 L1 L5 cos L3 L3 3 2 L1 L5 cos + L3 L3 3 2 2 ff L5 cos L5 cos L5 cos + 3 3 2 2 ii = L1 , ij = L3 , f 1 = L5 cos , f 2 = L5 cos L = + , cos 5 f3 3 3 R = diag ( 0, r, r, r, r ) 0 L1 0 L3 0 L3 0 L5 cos

Nonlinear Control Theory ~ Lecture 12

Transform to Rotating Frame

i1 , i2 , i3 id , iq , i0 v1 , v2 , v3 vd , vq , v0 2 2 cos cos cos + 3 3 id i1 i = B i , B = 2 sin sin 2 sin + 2 q 2 3 3 3 i0 i3 1 1 1 2 2 2 0 L fd i f 0 0 0 0 0 J 0 0 0 L 0 r Ls 0 0 id vd 0 0 L fd id s d 0 0 Ls 0 iq = L fd i f Ls r 0 0 iq + vq 0 dt i r 0 0 0 0 0 0 0 L 0 0 0 i0 v0 0 0 0 rf i f 0 i f vf 0 L fd 0 0 L f Ls := L1 + L3 , L0 = L1 2 L3 , L fd = 3 L ff 2

Nonlinear Control Theory ~ Lecture 12

Synchronous ~ speed control

We want to design a position controller that maintains a desired position, + ( ) = 1) exponentially: y1 = 2) zero d-axis: y2 = id 3) balanced operation: y3 = , = v0 ( t ) dt
t 0

1 {L fd i f iq } + ( ) , > 0 J

4) constant field current: y4 = i f i f Procedure: - reduce to regular form, - check zero dynamics - design sliding surfaces, - design reaching controller, - simulate
Nonlinear Control Theory ~ Lecture 12

Synchronous ~ speed control

Now, we have the system in the form: = f ( x ) + G ( x ) vB x x T = [ id
T vB = vd

id v0 y3

id

id vf y4 ]

vq y2

y = h(x)

y T = [ y1

Reduce to normal form r1 = 1, r2 = 1, r3 = 1, r4 = 1 dim zero dynamics = 3 In fact zero dynamics are: 0 = = , i r = i0 , L0

Note that sliding dynamics are the zero dynamics! The standard choice for K ki = 1, i = 1,2,3,4 s ( z ) = z
Nonlinear Control Theory ~ Lecture 12

Synchronous ~ speed control

Now, set up V = sT Qs = z T Qz V = 2 z T Qz Furthermore, h ( x ) = H ( x ) f ( x ) + H ( x ) G ( x ) vB = z x x = H ( x ) f ( x ) + H ( x )G ( x ) B ( x ) v z = 2hT ( x ) Q {H ( x ) f ( x ) + H ( x ) G ( x ) B ( x ) v} V = 2 z T Qz vi = Vmax,i sgn ( s ) , s ( x ) = HGB Qh ( x ) ,
* i * T

Nonlinear Control Theory ~ Lecture 12

Synchronous ~ speed control

Nonlinear Control Theory ~ Lecture 12

Synchronous ~ speed control

Nonlinear Control Theory ~ Lecture 12

Brushless dc Motor
In the brushless dc motor, the field coils are replaced by permanent magnets; thereby removing one coordinate: q = [ J 0 0 0 q1 q2 q3 ] i3 ]
T T

= [ i1 i2 q 0 Ls 0 0
3

0 0 Ls 0
2 e q

0 0 0 d id 0 = 3 k 0 dt iq 2 e L0 i0 0

0 r Ls 0

2 e

Ls
r 0

0 0 id vd + 0 iq vq r i0 v0

T=

ki

Nonlinear Control Theory ~ Lecture 12

Brushless dc ~2
0 1 T ( iq ) J 0 vd 1 rid Lsiq ) Ls ( 3 d L id = + = , T i k eiq s ( q) 2 dt vq 1 i q riq + Lsid 3 2k e Ls L i0 s v0 L 1 0 ri0 L0

) )

Nonlinear Control Theory ~ Lecture 12

Brushless Motor Control

Nonlinear Control Theory ~ Lecture 12

Brushless dc ~ position control

We want to design a position controller that maintains a desired position, 1) exponentially: y1 = + ( ) , > 0
2 2 2) constant stator current: y2 = id + iq I s2 or zero d-axis: y2 = id

3) balanced operation: y3 = i0 Procedure: - reduce to regular form, - check zero dynamics - design sliding surfaces, - design reaching controller, - simulate
Nonlinear Control Theory ~ Lecture 12